CN109767638A - Control method for vehicle, device, equipment and computer readable storage medium - Google Patents
Control method for vehicle, device, equipment and computer readable storage medium Download PDFInfo
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- CN109767638A CN109767638A CN201811544719.6A CN201811544719A CN109767638A CN 109767638 A CN109767638 A CN 109767638A CN 201811544719 A CN201811544719 A CN 201811544719A CN 109767638 A CN109767638 A CN 109767638A
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Abstract
The embodiment of the present invention provides a kind of control method for vehicle, device, equipment and computer readable storage medium.The method of the embodiment of the present invention, by car-mounted terminal according to the current location of vehicle, the sequencing of the position of each website and each website on travel route, the determining and current location is apart from shortest website topology line, wherein website topology line refers to the line segment of connection any two adjacent sites, using a described and website of the current location on shortest website topology line as next website, without manual intervention, next website can be automatically determined, and can determine one apart from the closer website in current location as next website, next website and continuation are driven to along travel route automatic Pilot so as to further control automatic driving vehicle, automatic driving vehicle can automatically restore website operation, it is more intelligent, improve the reliability of automatic driving vehicle operation.
Description
Technical field
The present embodiments relate to unmanned technical field more particularly to a kind of control method for vehicle, device, equipment and
Computer readable storage medium.
Background technique
In automatic driving vehicle operation, such as the scenes such as unmanned public transit vehicle, automatic driving vehicle are set to
It is travelled according to the setting path for including multiple websites.In the non-service time, automatic driving vehicle is usually parked in and originates website,
When starting operation, automatic driving vehicle is travelled from starting station point according to setting path.
During operation, once automatic driving vehicle is dropping by the wayside automatic Pilot, for example, midway is by automatic driving car
Security official's manual drive on for a period of time or vehicle stall etc., if being again introduced into automatic Pilot, it is necessary in human intervention
Under reaffirm the next website that will travel to, then automatic driving vehicle could from currently determine next website after
Continuous to travel according to setting path, in no human intervention, automatic driving vehicle can not continue to drive automatically according to setting path
It sails.
Summary of the invention
The embodiment of the present invention provides a kind of control method for vehicle, device, equipment and computer readable storage medium, to solve
Certainly in the prior art during operation, once automatic driving vehicle is dropping by the wayside automatic Pilot, there is no human intervention feelings
The problem of automatic driving vehicle can not continue according to setting path automatic Pilot under condition.
The one aspect of the embodiment of the present invention is to provide a kind of control method for vehicle, comprising:
Obtain the current location of vehicle, the position of each website and the sequencing of each website on travel route；
According to the position of website each on the travel route and the sequencing of each website, the determining and current location
Apart from shortest website topology line, the website topology line refers to the line segment of connection any two adjacent sites；
Using a described and website of the current location on shortest website topology line as next website.
The other side of the embodiment of the present invention is to provide a kind of controller of vehicle, comprising:
Data acquisition module, for obtaining the current location of vehicle, the position of each website and each website on travel route
Sequencing；
First determining module, for according to the position of website each on the travel route and the sequencing of each website,
Apart from shortest website topology line, the website topology line refers to connection any two adjacent sites for the determining and current location
Line segment；
Second determining module, for by described with a website of the current location on shortest website topology line
As next website.
The other side of the embodiment of the present invention is to provide a kind of vehicle control apparatus, comprising:
Memory, processor, and it is stored in the computer journey that can be run on the memory and on the processor
Sequence,
The processor realizes control method for vehicle described above when running the computer program.
The other side of the embodiment of the present invention is to provide a kind of computer readable storage medium, is stored with computer journey
Sequence,
The computer program realizes control method for vehicle described above when being executed by processor.
Control method for vehicle, device, equipment and computer readable storage medium provided in an embodiment of the present invention, by vehicle-mounted
Terminal is according to the current location of vehicle, the position of each website and the sequencing of each website on travel route, it is determining with it is described
Current location is apart from shortest website topology line, and wherein website topology line refers to the line segment of connection any two adjacent sites, will
A described and website of the current location on shortest website topology line is as next website, without artificial
Intervene, so that it may automatically determine next website, and can determine one apart from the closer website in current location as next
A website, so as to further control, automatic driving vehicle drives to next website and continuation is driven automatically along travel route
It sails, automatic driving vehicle can automatically restore website operation, more intelligently, improve the reliable of automatic driving vehicle operation
Property.
Detailed description of the invention
Fig. 1 is the control method for vehicle flow chart that the embodiment of the present invention one provides；
Fig. 2 is control method for vehicle flow chart provided by Embodiment 2 of the present invention；
Fig. 3 is the structural schematic diagram for the controller of vehicle that the embodiment of the present invention three provides；
Fig. 4 is the structural schematic diagram for the controller of vehicle that the embodiment of the present invention four provides；
Fig. 5 is the structural schematic diagram for the vehicle control apparatus that the embodiment of the present invention five provides.
Through the above attached drawings, it has been shown that the specific embodiment of the present invention will be hereinafter described in more detail.These attached drawings
It is not intended to limit the range of design of the embodiment of the present invention in any manner with verbal description, but by reference to specific reality
Applying example is that those skilled in the art illustrate idea of the invention.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the embodiment of the present invention.On the contrary, they be only with
The example of the consistent device and method of as detailed in the attached claim, the embodiment of the present invention some aspects.
Term " first " involved in the embodiment of the present invention, " second " etc. are used for description purposes only, and should not be understood as referring to
Show or imply relative importance or implicitly indicates the quantity of indicated technical characteristic.In the description of following embodiment,
The meaning of " plurality " is two or more, unless otherwise specifically defined.
These specific embodiments can be combined with each other below, may be at certain for the same or similar concept or process
It is repeated no more in a little embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
Embodiment one
Fig. 1 is the control method for vehicle flow chart that the embodiment of the present invention one provides.The embodiment of the present invention is directed to the prior art
During operation, once automatic driving vehicle is dropping by the wayside automatic Pilot, in no human intervention, nobody is driven
The problem of vehicle can not be continued according to setting path automatic Pilot is sailed, control method for vehicle is provided.
Method in the present embodiment is applied to the control equipment of automatic driving vehicle, which can be unmanned
The car-mounted terminal etc. of vehicle, in other embodiments, this method applies also for other equipment, and the present embodiment is with automatic driving car
Car-mounted terminal for schematically illustrated.
As shown in Figure 1, specific step is as follows for this method:
Step S101, the current location of vehicle is obtained, the position of each website and the point respectively stood are successively suitable on travel route
Sequence.
In practical applications, the travel route that automatic driving vehicle puts into effect can be carried out according to the position of each website
The pre-planning of travel route obtains.
The topology information of the travel route of current vehicle is stored on the car-mounted terminal of automatic driving vehicle.Travel route
Topology information includes the sequencing of the position of each website and each website on travel route.Wherein, the sequencing of each website
For indicating automatic driving vehicle in the sequencing for passing through each website when driving along travel route.
In addition, travel route can be stored in a manner of travel route topological diagram etc., or can also otherwise store
The present embodiment is not specifically limited herein.
In the step, the present bit for the vehicle that the positioning device that car-mounted terminal can receive vehicle is positioned and sent in real time
It sets.
Step S102, according to the position of website each on travel route and each website sequencing, determining and current location
Apart from shortest website topology line, website topology line refers to the line segment of connection any two adjacent sites.
In the present embodiment, for any two adjacent sites on travel route, connecting the two adjacent sites can be obtained
To a line segment, the line segment of any two adjacent sites on travel route will be connected as a website topology of travel route
Line.The distance of specified point line segment outside to the line segment is defined as on the specified point to the line segment in the distance of arbitrary point
The shortest distance.The line segment namely specified distance to the line segment at a distance from the specified point.
Current location is at a distance from website topology line: referring to the shortest distance of current location Yu website topology line；It that is to say,
The shortest distance on current location to this line segment of website topology line in the distance of arbitrary point.Current location and website topology line
Distance i.e. website topology line are at a distance from current location.
In the step, according to current location, the position of each website and each website sequencing can be calculated current
Position is most short with current location distance so as to further determine at a distance from every website topology line of the travel route
Website topology line.
Step S103, using with a website of the current location on shortest website topology line as next website.
In determining and current location after shortest website topology line, car-mounted terminal can will be with current location distance
Any one in two websites on shortest website topology line is as next website, after determining next website,
Car-mounted terminal can control vehicle and travel to next website, and drive automatically after reaching next website along travel route
It sails.
The embodiment of the present invention by car-mounted terminal according to the current location of vehicle, on travel route the position of each website and
The sequencing of each website, determining and current location is apart from shortest website topology line, and wherein website topology line refers to that connection is appointed
The line segment for two adjacent sites of anticipating, using with a website of the current location on shortest website topology line as next station
Point, without manual intervention, so that it may automatically determine next website, and can determine one it is closer apart from current location
Website as next website, drive to next website so as to further control automatic driving vehicle and continue along row
Route automatic Pilot is sailed, automatic driving vehicle can automatically restore website operation and more intelligently improve automatic driving vehicle
The reliability of operation.
Embodiment two
Fig. 2 is control method for vehicle flow chart provided by Embodiment 2 of the present invention.On the basis of the above embodiment 1, originally
In embodiment, using with a website of the current location on shortest website topology line as next website after, control
Vehicle drives to next website from current location；Vehicle is controlled from next website, is travelled along travel route.Such as Fig. 2 institute
Show, specific step is as follows for this method:
Step S201, the current location of vehicle is obtained, the position of each website and each website sequencing on travel route.
In practical applications, the travel route that automatic driving vehicle puts into effect can be carried out according to the position of each website
The pre-planning of travel route obtains.
The topology information of the travel route of current vehicle is stored on the car-mounted terminal of automatic driving vehicle.Travel route
Topology information includes the sequencing of the position of each website and each website on travel route.Wherein, the sequencing of each website
For indicating automatic driving vehicle in the sequencing for passing through each website when driving along travel route.
In addition, travel route can be stored in a manner of travel route topological diagram etc., or can also otherwise store
The present embodiment is not specifically limited herein.
In the step, the present bit for the vehicle that the positioning device that car-mounted terminal can receive vehicle is positioned and sent in real time
It sets.
Step S202, according to the position of website each on travel route and each website sequencing, determining and current location
Apart from shortest website topology line, website topology line refers to the line segment of connection any two adjacent sites.
In the present embodiment, for any two adjacent sites on travel route, connecting the two adjacent sites can be obtained
To a line segment, the line segment of any two adjacent sites on travel route will be connected as a website topology of travel route
Line.The distance of specified point line segment outside to the line segment is defined as on the specified point to the line segment in the distance of arbitrary point
The shortest distance.The line segment namely specified distance to the line segment at a distance from the specified point.
Current location is at a distance from website topology line: referring to the shortest distance of current location Yu website topology line；It that is to say,
The shortest distance on current location to this line segment of website topology line in the distance of arbitrary point.Current location and website topology line
Distance i.e. website topology line are at a distance from current location.
In the step, according to the position of website each on travel route and each website sequencing, determining and current location
Apart from shortest website topology line, can specifically realize in the following way:
According to the position of website each on travel route and each website sequencing, all stations of travel route are calculated
The topological line of point, website topology line refer to the line segment of connection any two adjacent sites；Current location is calculated to each website topology
The distance of line；Compare current location to each website topology line distance size, determining and current location is apart from shortest station
The topological line of point.
In addition, distance of the technology current location to each website topology line, it can be using any one meter in the prior art
The method for calculating the shortest distance of one o'clock to one line segment realizes that details are not described herein again for the present embodiment.
Step S203, using with a website of the current location on shortest website topology line as next website.
In determining and current location after shortest website topology line, car-mounted terminal can will be with current location distance
Any one in two websites on shortest website topology line is as next website, after determining next website,
Car-mounted terminal can control vehicle and travel to next website, and drive automatically after reaching next website along travel route
It sails.
Optionally, a kind of feasible embodiment of the step are as follows:
Will with current location apart from shortest website topology line as target topology line, determine current location in target topology
Projected position on line；Two websites on target topology line are calculated at a distance from projected position；By on target topology line with throwing
The smallest website of the distance of shadow position, as next website.
In this embodiment, if in above-mentioned steps S202, the distance of calculating current location to each website topology line
When, it has been determined that projection of the current location on website topology line；So in the step, this embodiment can be used,
By website on target topology line, nearest apart from projected position of the current location on target topology line, as next station
Point, so as to more quickly using on target topology line with current location apart from nearest website as next website.
Optionally, the feasible embodiment of another kind of the step are as follows:
Will with current location apart from shortest website topology line as target topology line, calculate two on target topology line
Website is at a distance from current location；By on target topology line at a distance from current location the smallest website, as next website.
By this embodiment, also may be implemented using on target topology line with current location apart from nearest website as next station
Point.
Optionally, the feasible embodiment of another kind of the step are as follows:
According to current location on shortest website topology line two website sequencings, by two websites rear
The website in face is as next website.By this embodiment, will with current location on shortest website topology line more
Website rearward can allow automatic driving vehicle to reach home more quickly website as next website.
Optionally, the feasible embodiment of another kind of the step are as follows:
According to current location on shortest website topology line two website sequencings, by two websites preceding
The website in face is as next website.By this embodiment, will with current location on shortest website topology line more
Forward website can omit website to avoid automatic driving vehicle, provide automatic driving vehicle operation as next website
Reliability.
In addition, car-mounted terminal can also use other embodiments determination will be with current location apart from shortest website topology
Which is not specifically limited herein as next website, the present embodiment in two websites on line.
Step S204, control vehicle drives to next website from current location.
After next website has been determined, car-mounted terminal can be raw according to the position of current location and next website
At from current location, to the programme path of next website, control vehicle drives to along the programme path from current location next
Website.
Step S205, control vehicle is travelled from next website along travel route.
For vehicle after driving to up to next website, car-mounted terminal controls vehicle from current website along travel route
Continue to travel, to complete the operations task of automatic driving vehicle.
The embodiment of the present invention by car-mounted terminal according to the current location of vehicle, on travel route the position of each website and
The sequencing of each website, determining and current location is apart from shortest website topology line, and wherein website topology line refers to that connection is appointed
The line segment for two adjacent sites of anticipating, using with a website of the current location on shortest website topology line as next station
Point, without manual intervention, so that it may automatically determine next website, and can determine one it is closer apart from current location
Website as next website, drive to next website so as to further control automatic driving vehicle and continue along row
Route automatic Pilot is sailed, automatic driving vehicle can automatically restore website operation and more intelligently improve automatic driving vehicle
The reliability of operation.
Embodiment three
Fig. 3 is the structural schematic diagram for the controller of vehicle that the embodiment of the present invention three provides.It is provided in an embodiment of the present invention
Controller of vehicle can execute the process flow of control method for vehicle embodiment offer.As shown in figure 3, the controller of vehicle
30 include: data acquisition module 301, the first determining module 302 and the second determining module 303.
Specifically, data acquisition module 301 is used to obtain the current location of vehicle, on travel route the position of each website with
And the sequencing of each website.
First determining module 302 is used for according to the position of website each on travel route and the sequencing of each website, really
Apart from shortest website topology line, website topology line refers to the line segment of connection any two adjacent sites for fixed and current location.
Second determining module 303 be used for using with a website of the current location on shortest website topology line as under
One website.
Device provided in an embodiment of the present invention can be specifically used for executing embodiment of the method provided by above-described embodiment one,
Details are not described herein again for concrete function.
The embodiment of the present invention by car-mounted terminal according to the current location of vehicle, on travel route the position of each website and
The sequencing of each website, determining and current location is apart from shortest website topology line, and wherein website topology line refers to that connection is appointed
The line segment for two adjacent sites of anticipating, using with a website of the current location on shortest website topology line as next station
Point, without manual intervention, so that it may automatically determine next website, and can determine one it is closer apart from current location
Website as next website, drive to next website so as to further control automatic driving vehicle and continue along row
Route automatic Pilot is sailed, automatic driving vehicle can automatically restore website operation and more intelligently improve automatic driving vehicle
The reliability of operation.
Example IV
Fig. 4 is the structural schematic diagram for the controller of vehicle that the embodiment of the present invention four provides.In the base of above-described embodiment three
On plinth, in the present embodiment, as shown in figure 4, controller of vehicle 30 further include: traveling control module 304.
Traveling control module 304 is used for:
It controls vehicle and drives to next website from current location；Vehicle is controlled from next website, along travel route
Traveling.
Optionally, the first determining module is also used to:
According to the position of website each on travel route and the sequencing of each website, all of travel route are calculated
Website topology line, website topology line refer to the line segment of connection any two adjacent sites；Current location is calculated to open up to each website
Flutter the distance of line；Compare current location to each website topology line distance size, determining and current location is apart from shortest
Website topology line.
Optionally, the second determining module is also used to:
Will with current location apart from shortest website topology line as target topology line, determine current location in target topology
Projected position on line；Two websites on target topology line are calculated at a distance from projected position；By on target topology line with throwing
The smallest website of the distance of shadow position, as next website.
Optionally, the second determining module is also used to:
Will with current location apart from shortest website topology line as target topology line, calculate two on target topology line
Website is at a distance from current location；By on target topology line at a distance from current location the smallest website, as next website.
Optionally, the second determining module is also used to:
According to the sequencing with current location two websites on shortest website topology line, will be arranged in two websites
In website below as next website；Alternatively, according to current location on shortest website topology line two websites
Sequencing, the website of front will be come in two websites as next website.
Device provided in an embodiment of the present invention can be specifically used for executing embodiment of the method provided by above-described embodiment two,
Details are not described herein again for concrete function.
The embodiment of the present invention by car-mounted terminal according to the current location of vehicle, on travel route the position of each website and
The sequencing of each website, determining and current location is apart from shortest website topology line, and wherein website topology line refers to that connection is appointed
The line segment for two adjacent sites of anticipating, using with a website of the current location on shortest website topology line as next station
Point, without manual intervention, so that it may automatically determine next website, and can determine one it is closer apart from current location
Website as next website, drive to next website so as to further control automatic driving vehicle and continue along row
Route automatic Pilot is sailed, automatic driving vehicle can automatically restore website operation and more intelligently improve automatic driving vehicle
The reliability of operation.
Embodiment five
Fig. 5 is the structural schematic diagram for the vehicle control apparatus that the embodiment of the present invention five provides.As shown in figure 5, the vehicle control
Control equipment 50 includes: processor 501, memory 502, and is stored in the meter that can be executed on memory 502 and by processor 501
Calculation machine program.
Processor 501 realizes any of the above-described embodiment of the method when executing and storing in the computer program on memory 502
The control method for vehicle of offer.
Vehicle control apparatus in the present embodiment can be the car-mounted terminal on automatic driving vehicle, or for remotely controlling
The control equipment of automatic driving vehicle traveling processed, or can also be the other equipment that can control automatic driving vehicle traveling,
The present embodiment is not specifically limited herein.
The embodiment of the present invention by car-mounted terminal according to the current location of vehicle, on travel route the position of each website and
The sequencing of each website, determining and current location is apart from shortest website topology line, and wherein website topology line refers to that connection is appointed
The line segment for two adjacent sites of anticipating, using with a website of the current location on shortest website topology line as next station
Point, without manual intervention, so that it may automatically determine next website, and can determine one it is closer apart from current location
Website as next website, drive to next website so as to further control automatic driving vehicle and continue along row
Route automatic Pilot is sailed, automatic driving vehicle can automatically restore website operation and more intelligently improve automatic driving vehicle
The reliability of operation.
In addition, the embodiment of the present invention also provides a kind of computer readable storage medium, it is stored with computer program, the meter
Calculation machine program realizes the control method for vehicle that any of the above-described embodiment of the method provides when being executed by processor.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Those skilled in the art after considering the specification and implementing the invention disclosed here, will readily occur to of the invention its
Its embodiment.The present invention is directed to cover any variations, uses, or adaptations of the invention, these modifications, purposes or
Person's adaptive change follows general principle of the invention and including the undocumented common knowledge in the art of the present invention
Or conventional techniques.The description and examples are only to be considered as illustrative, and true scope and spirit of the invention are by following
Claims are pointed out.
It should be understood that the present invention is not limited to the precise structure already described above and shown in the accompanying drawings, and
And various modifications and changes may be made without departing from the scope thereof.The scope of the present invention is only limited by appended claims
System.
Claims (15)
1. a kind of control method for vehicle characterized by comprising
Obtain the current location of vehicle, the position of each website and the sequencing of each website on travel route；
According to the position of website each on the travel route and the sequencing of each website, the determining and current location distance
Shortest website topology line, the website topology line refer to the line segment of connection any two adjacent sites；
Using a described and website of the current location on shortest website topology line as next website.
2. the method according to claim 1, wherein described incite somebody to action the described and current location apart from shortest station
After a website on topological line is put as next website, further includes:
It controls the vehicle and drives to next website from the current location；
The vehicle is controlled from next website, is travelled along the travel route.
3. the method according to claim 1, wherein the position according to website each on the travel route with
And the sequencing of each website, apart from shortest website topology line, the website topology line refers to for the determining and current location
Connect the line segment of any two adjacent sites, comprising:
According to the position of website each on the travel route and the sequencing of each website, the travel route is calculated
All website topology lines, the website topology line refer to the line segment of connection any two adjacent sites；
Calculate the current location to each website topology line distance；
Compare the current location to each website topology line distance size, it is determining with the current location distance most
Short website topology line.
4. method according to claim 1-3, which is characterized in that described by the described and current location distance
A website on shortest website topology line is as next website, comprising:
Will with the current location apart from shortest website topology line as target topology line, determine the current location described
Projected position on target topology line；
Two websites on the target topology line are calculated at a distance from the projected position；
By on the target topology line at a distance from the projected position the smallest website, as next website.
5. method according to claim 1-3, which is characterized in that described by the described and current location distance
A website on shortest website topology line is as next website, comprising:
Will with the current location apart from shortest website topology line as target topology line, calculate on the target topology line
Two websites are at a distance from the current location；
By on the target topology line at a distance from the current location the smallest website, as next website.
6. method according to claim 1-3, which is characterized in that described by the described and current location distance
A website on shortest website topology line is as next website, comprising:
According to the sequencing with the current location two websites on shortest website topology line, by described two websites
In come subsequent website as next website.
7. method according to claim 1-3, which is characterized in that described by the described and current location distance
A website on shortest website topology line is as next website, comprising:
According to the sequencing with the current location two websites on shortest website topology line, by described two websites
In come the website of front as next website.
8. a kind of controller of vehicle characterized by comprising
Data acquisition module, for obtaining the current location of vehicle, the elder generation of the position of each website and each website on travel route
Sequence afterwards；
First determining module, for determining according to the position of website each on the travel route and the sequencing of each website
With the current location apart from shortest website topology line, the website topology line refers to the line of connection any two adjacent sites
Section；
Second determining module, for using it is described with a website of the current location on shortest website topology line as
Next website.
9. device according to claim 8, which is characterized in that described device further include: traveling control module, the traveling
Control module is used for:
It controls the vehicle and drives to next website from the current location；
The vehicle is controlled from next website, is travelled along the travel route.
10. device according to claim 8, which is characterized in that first determining module is also used to:
According to the position of website each on the travel route and the sequencing of each website, the travel route is calculated
All website topology lines, the website topology line refer to the line segment of connection any two adjacent sites；
Calculate the current location to each website topology line distance；
Compare the current location to each website topology line distance size, it is determining with the current location distance most
Short website topology line.
11. according to the described in any item devices of claim 8-10, which is characterized in that second determining module is also used to:
Will with the current location apart from shortest website topology line as target topology line, determine the current location described
Projected position on target topology line；
Two websites on the target topology line are calculated at a distance from the projected position；
By on the target topology line at a distance from the projected position the smallest website, as next website.
12. according to the described in any item devices of claim 8-10, which is characterized in that second determining module is also used to:
Will with the current location apart from shortest website topology line as target topology line, calculate on the target topology line
Two websites are at a distance from the current location；
By on the target topology line at a distance from the current location the smallest website, as next website.
13. according to the described in any item devices of claim 8-10, which is characterized in that second determining module is also used to:
According to the sequencing with the current location two websites on shortest website topology line, by described two websites
In come subsequent website as next website；
Alternatively,
According to the sequencing with the current location two websites on shortest website topology line, by described two websites
In come the website of front as next website.
14. a kind of vehicle control apparatus characterized by comprising
Memory, processor, and it is stored in the computer program that can be run on the memory and on the processor,
The processor realizes such as method of any of claims 1-7 when running the computer program.
15. a kind of computer readable storage medium, which is characterized in that it is stored with computer program,
Such as method of any of claims 1-7 is realized when the computer program is executed by processor.
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